Mosyr

Modular robot control system

David Obdržálek

Description

Mosyr is a general mobile robot control system

In this work, we present the design and implementation of a modular robot control system. Our software has evolved from our initial robotic software, built for an autonomous robot for the Eurobot contest. Our universal, modular architecture is a significant improvement from the original hard-coded, hard to maintain, single purpose solution. We have effectively separated the higher-level software components such as robust localization, advanced steering, etc. from the underlying hardware devices and communication protocols. Written in C/C++ using standard libraries, the final software is highly portable and extensible. Support for new platforms and hardware modules can be implemented easily, and the software includes several pre-build modules for even easier implementation on any other chosen platform.